Device for detecting moving objects
A device for detecting moving objects present in the blind spot of a vehicle, the device having at least one object detection sensor, which, when the vehicle is backed out of a parking space, detects the distance between objects moving at an angle to the vehicle and sends it to an evaluation unit, and the evaluation unit determines the relative velocity from the distance sent to it, and a warning device is switched on as a function of the distance, the relative velocity and the velocity of the driver's vehicle to notify the driver of the object moving at an angle to the driver's vehicle.
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The present invention relates to a device for detecting moving objects present in a vehicle's blind-spot, the device having at least one object detection sensor which, when the driver backs out of a parking space, detects the distance to objects moving at an angle to the vehicle and sends that information to an evaluation unit, and, based on the distance data sent to it, the evaluation unit determines the relative velocity, and as a function of the distance, the relative velocity, and the velocity of the driver's vehicle, a warning device is switched on which informs the driver of the object moving at an angle to his own vehicle.
BACKGROUND INFORMATIONAn ultrasonic parking assistance device which assists the driver of a vehicle when parking in a parking space is known from the book Autoelektrik, Autoelektronik [Automotive Electrical Systems, Automotive Electronics], Vieweg Verlag, 1998, pp. 283-285 (chapter entitled “Parking Systems”).
Furthermore, systems which monitor a vehicle's blind spot and inform the driver if an object is detected in the blind spot are known from the related art. Such a device is known heretofore for example from German Published Patent Application No. 42 28 794.
SUMMARY OF THE INVENTIONThe object of the present invention is to further enhance a device in a motor vehicle suitable for detecting objects in a blind spot so that when the driver backs out of a parking space, the device detects vehicles moving at an angle and not only warns the driver but also assists him via other functions.
It is advantageous that as a function of the distance, the relative velocity, and the velocity of the driver's vehicle, the deceleration devices may be switched on by the evaluation device.
Furthermore it is advantageous that, using the evaluation device, the distance between the object moving at an angle and adjacent parked vehicles may be determined from the distance and relative velocity of the object moving at an angle to the driver's vehicle.
It is advantageous that the object detection sensor is a radar sensor, an ultrasonic sensor, a laser sensor, a video sensor, or a combination thereof.
It is advantageous that the radar sensor is designed as a pulse radar sensor.
Furthermore, it is advantageous that the at least one object detection sensor is integrated into the vehicle's bumper so that it is not visible from the outside.
It is advantageous that the object detection sensor is mounted on vehicle corners at an angle of approximately 45° to the vehicle's longitudinal axis.
Furthermore, it is advantageous that if the vehicle is being backed out of a parking space, the warning function is enabled when the driver engages the reverse gear.
Furthermore, it is advantageous that if the vehicle is backed out of a parking space, the warning function is enabled when the engine is switched on and the vehicle is still stationary.
Furthermore, it is advantageous that if the vehicle is backed out of a parking space, the warning function may be temporarily disabled via a driver-operated actuator until the function is used again.
According to a further embodiment of the present invention, a display unit is able to notify the driver whether the device is enabled.
It is advantageous that the evaluation device is able to issue a warning if the velocity of the driver's vehicle exceeds a predefined velocity threshold.
Furthermore, it is advantageous that the warning device provides the driver with a visual, acoustic, or visual and acoustic warning.
This distance e is used when danger level G is determined, distance dn between object 3 and vehicle 1, as well as modified relative velocity Vrelmod, also being taken into account.
Because only low velocities of vehicle 1 are permitted for the procedure described, as the calculation method's capability threshold would otherwise be exceeded, a check is performed in step 22 to determine whether the velocity of the driver's vehicle Ve is greater than a predefinable maximum velocity value Vmax, which is definable as for example Ve=6 km/h. If velocity Ve of vehicle 1 is greater than this predefinable velocity threshold Vmax, the method branches in block 22 to “Yes” and in block 23 a warning is issued to notify the driver that the velocity Ve of vehicle 1 is too great and the system's capability threshold has been exceeded. This driver warning may for example be acoustic or visual, or according to a further embodiment, the vehicle is automatically limited to a maximum velocity value Vmax, e.g., via a trigger from deceleration devices so that Vmax is not exceeded or via automatic throttling of the engine output of vehicle 1. If it is determined in block 22 that velocity Ve of vehicle 1 is less than or equal to maximum velocity threshold Vmax, the method branches in block 22 to “No” and in block 24 danger level G is determined as a function of distance dn, modified relative velocity Vrelmod, velocity Ve, and distance e of perpendicularly passing object 3 from the objects 2 that delimit the road. To accomplish this, for example the anticipated future movements of the driver's vehicle 1 and of perpendicularly passing vehicle 3, and a time period until a calculated collision, or a path leading to a calculated collision, may be determined. As a function of the remaining time or remaining path, or if danger level G is exceeded beyond a boundary threshold Gmax, an acoustic or visual driver warning is issued per block 25. Furthermore, it is also feasible to trigger the deceleration means of vehicle 1 in addition to an acoustic, visual, or acoustic and visual driver warning, so that a collision with perpendicularly passing vehicle 3 may be avoided. After block 23 or block 25, the method branches to END and starts again at START by way of an endless loop, provided the predefined enable conditions for the warning function are met. These conditions may be for example that the vehicle's reverse gear is engaged. If, when the backing-out maneuver has been completed, a gear is engaged that moves the vehicle forward, the process is ended and normal driving operation begins, the sensor being used for example for blind-spot detection only.
Claims
1. A device for detecting a moving object present in a blind-spot of a vehicle, comprising:
- at least one object detection sensor for detecting a distance to the moving object passing at an angle to the vehicle during an exit from a parking space and for sending a sensor output signal;
- a warning device; and
- an evaluation unit for receiving the sensor output signal, wherein: the evaluation unit determines a relative velocity from the distance of the moving object passing at the angle to the vehicle, and as a function of the distance, the relative velocity, and a velocity of the vehicle, the evaluation unit switches on the warning device to notify a driver regarding the moving object moving at the angle to the vehicle.
2. The device as recited in claim 1, wherein:
- the evaluation unit enables deceleration devices as a function of the distance, the relative velocity, and the velocity of the vehicle.
3. The device as recited in claim 1, wherein:
- the evaluation unit determines a distance between the moving object passing at the angle and an adjacent parked vehicles from the distance detected by the at least one object detection sensor and the relative velocity.
4. The device as recited in claim 1, wherein the at least one object detection sensor includes one of a radar sensor, an ultrasonic sensor, a laser sensor, a video sensor, and a combination thereof.
5. The device as recited in claim 4, wherein the radar sensor includes a pulse radar sensor.
6. The device as recited in claim 1, wherein the at least one object detection sensor is integrated into a bumper of the vehicle in such a way that the at least one object detection sensor is not visible from the outside.
7. The device as recited in claim 1, wherein the at least one object detection sensor is mounted on vehicle corners and is at about 45° to a longitudinal axis of the vehicle.
8. The device as recited in claim 1, wherein during maneuvers of leaving a parking gap, a warning function is enabled if the driver engages a reverse gear.
9. The device as recited in claim 1, wherein during maneuvers of leaving a parking gap, a warning function is enabled when an engine of the vehicle is switched on and the vehicle is at a standstill.
10. The device as recited in claim 1, wherein during maneuvers of leaving a parking gap, a warning function can be switched off temporarily via a driver-operated actuator until the warning function is used again.
11. The device as recited in claim 1, further comprising:
- a display device via which the driver is notified as to whether or not the device is enabled.
12. The device as recited in claim 1, wherein a warning can be issued if the velocity of the vehicle exceeds a pre-defined velocity threshold.
13. The device according to claim 1, wherein the evaluation unit issues at least one of a visual warning and an acoustic warning to the driver.
14. A method for detecting a moving object present in a blind-spot of a vehicle, comprising:
- detecting, by at least one object detection sensor, a distance to the moving object passing at an angle to the vehicle during an exit from a parking space;
- sending, by the at least one object detection sensor, a sensor output signal to the an evaluation unit;
- receiving, by the evaluation unit, the sensor output signal;
- determining, by the evaluation unit, a relative velocity from the distance of the moving object passing at the angle to the vehicle; and
- switching on, by the evaluation unit, a warning device to notify a driver regarding the moving object moving at the angle to the vehicle, the switching on being as a function of the distance, the relative velocity, and the velocity of the vehicle.
15. The method as recited in claim 14, further comprising:
- enabling, by the evaluation unit, deceleration devices as a function of the distance, the relative velocity, and the velocity of the vehicle.
16. The method as recited in claim 14, further comprising:
- determining, by the evaluation unit, a distance between the moving object passing at the angle and an adjacent parked vehicle from the distance detected by the at least one object detection sensor and the relative velocity.
17. The method as recited in claim 14, wherein the at least one object detection sensor includes one of a radar sensor, an ultrasonic sensor, a laser sensor, a video sensor, and a combination thereof.
18. The method as recited in claim 17, wherein the radar sensor includes a pulse radar sensor.
19. The method as recited in claim 14, wherein the at least one object detection sensor is integrated into a bumper of the vehicle in such a way that the at least one object detection sensor is not visible from the outside.
20. The method as recited in claim 14, wherein the at least one object detection sensor is mounted on vehicle corners and is at about 45° to a longitudinal axis of the vehicle.
21. The method as recited in claim 14, further comprising:
- enabling a warning function during maneuvers of parking space exits if the driver engages a reverse gear.
22. The method as recited in claim 14, further comprising:
- enabling a warning function during maneuvers of parking space exits when an engine of the vehicle is switched on and the vehicle is at a standstill.
23. The method as recited in claim 14, wherein during maneuvers of parking space exits, a warning function can be switched off temporarily via a driver-operated actuator until the warning function is used again.
24. The method as recited in claim 14, further comprising:
- notifying the driver, via a display device, as to whether the warning device is enabled for notifying the driver regarding the moving object moving at the angle to the vehicle.
25. The method as recited in claim 14, wherein the notification is performed conditional upon that the velocity of the vehicle exceeds a pre-defined velocity threshold.
26. The method according to claim 14, wherein the notification is via as least one of a visual warning and an acoustic warning.
5450057 | September 12, 1995 | Watanabe |
5572484 | November 5, 1996 | Franke et al. |
5754123 | May 19, 1998 | Nashif et al. |
5777563 | July 7, 1998 | Hull et al. |
5905457 | May 18, 1999 | Rashid |
42 28 794 | March 1994 | DE |
195 26 452 | October 1996 | DE |
101 60 299 | June 2003 | DE |
- Automotive Electrical Systems (chapter entitled “Parking Systems”)., Automotive Electronics, Vieweg Verlag, 1998, pp. 283-285.
Type: Grant
Filed: Jul 22, 2004
Date of Patent: Jun 10, 2008
Patent Publication Number: 20070279199
Assignee: Robert Bosch GmbH (Stuttgart)
Inventors: Christian Danz (Stuttgart), Jie Ge (Stuttgart-Hausen)
Primary Examiner: Daryl C. Pope
Attorney: Kenyon & Kenyon LLP
Application Number: 10/579,277
International Classification: B60Q 1/00 (20060101);